version: 66.06
glider: 181
mission: 1
dive: 13
start: 2 3 110 4 54 42
data:
$ID,181
$MISSION,1
$DIVE,13
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34555.004
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,162
$PITCH_MAX,3972
$C_PITCH,2625
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3467
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.206589
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043203235
$SEABIRD_T_H,0.00062277901
$SEABIRD_T_I,2.2452641e-05
$SEABIRD_T_J,2.2905836e-06
$SEABIRD_C_G,-10.17854
$SEABIRD_C_H,1.1531147
$SEABIRD_C_I,-0.0013870052
$SEABIRD_C_J,0.0002016264
$GPS1,044819,4805.843,-12221.639,6,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-74.6
$GPS2,045402,4805.835,-12221.618,11,1.7,11,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,-0.055
$KALMAN_X,-3257.6,-238.3,-113.6,5515.2,-782.3
$KALMAN_Y,1095.1,129.0,249.2,-5070.8,496.1
$MHEAD_RNG_PITCHd_Wd,103.4,562,-26.4,-6.024
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.92,-29.6,0.0,0.0,0,91,0.00,0.00,-77.57,0.000,2,0.000,0.000,164,2117,3198,0,0,0,0,0,0
$GC,92,-0.94,-45.5,3.5,-3.9,15,120,11.77,2.38,-11.65,0.000,4,0.326,0.067,2300,3546,3654,0,0,0,0,0,0
$GC,245,-0.96,-61.2,11.0,-3.9,49,252,0.00,2.28,-1.25,0.000,6,0.000,0.038,2305,2104,3718,0,0,0,0,0,0
$GC,317,-0.96,-61.2,16.9,-9.7,65,322,0.00,2.33,0.00,0.000,4,0.000,0.054,2295,3539,3718,0,0,0,0,0,0
$GC,570,-0.96,-61.2,53.8,-15.9,123,575,0.00,2.17,0.00,0.000,6,0.000,0.038,2302,2118,3720,0,0,0,0,0,0
$GC,704,-0.96,-61.2,73.2,-14.5,154,711,0.00,2.30,0.00,0.000,4,0.000,0.054,2291,3546,3719,0,0,0,0,0,0
$GC,957,-0.96,-61.2,111.1,-13.3,212,964,0.00,2.20,0.00,0.000,6,0.000,0.038,2292,2126,3720,0,0,0,0,0,0
$STATE,1014,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1015,begin apogee
$GC,1017,-0.17,0.0,117.8,11.6,225,1070,1.00,0.00,46.62,0.659,6,0.216,0.000,2557,2125,3467,0,0,0,0,0,0
$STATE,1070,end apogee,CONTROL_FINISHED_OK
$STATE,1070,begin climb
$GC,1071,0.96,61.2,119.8,0.0,236,1125,1.12,2.28,46.58,0.635,4,0.112,0.047,2936,713,3216,0,0,0,0,0,0
$GC,1133,0.96,61.2,113.7,11.0,249,1138,0.00,2.33,0.00,0.000,6,0.000,0.048,2936,2131,3216,0,0,0,0,0,0
$GC,1267,0.96,61.2,90.4,16.7,280,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2131,3216,0,0,0,0,0,0
$GC,1398,0.96,61.2,70.4,15.2,310,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2131,3215,0,0,0,0,0,0
$GC,1534,0.96,61.2,50.8,13.9,341,1539,0.00,2.25,0.00,0.000,4,0.000,0.055,2936,3536,3215,0,0,0,0,0,0
$GC,1656,0.96,61.2,32.8,14.7,369,1662,0.00,2.25,0.00,0.000,6,0.000,0.042,2947,2117,3216,0,0,0,0,0,0
$GC,1727,0.96,61.2,23.0,13.5,385,1732,0.00,2.30,0.00,0.000,4,0.000,0.056,2946,3538,3217,0,0,0,0,0,0
$GC,1736,0.96,61.2,21.5,13.6,387,1742,0.00,2.25,0.00,0.000,6,0.000,0.044,2957,2120,3216,0,0,0,0,0,0
$GC,1807,0.96,61.2,12.1,13.0,403,1813,0.00,2.30,0.00,0.000,4,0.000,0.058,2957,3529,3216,0,0,0,0,0,0
$GC,1834,0.96,61.2,8.4,13.5,409,1840,0.12,2.22,0.00,0.000,6,0.235,0.043,2938,2121,3216,0,0,0,0,0,0
$GC,1905,1.00,99.4,5.7,0.8,425,1942,0.00,2.35,28.73,0.581,4,0.000,0.057,2932,3538,3061,0,0,0,0,0,0
$STATE,2089,end climb,SURFACE_DEPTH_REACHED
$STATE,2089,begin surface coast
$FINISH,4.9,1.021318
$STATE,2289,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2289,begin surface
$SM_CCo,2304,249.43,0.555,0,0,1223,550.21
$SM_GC,1.05,0.00,0.00,249.43,0.000,0.000,0.555,164,2108,1223,-7.70,-0.34,550.21
$IRIDIUM_FIX,4748.51,-12139.83,300499,040409
$TT8_MAMPS,0.052156
$HUMID,32.28
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,39.4
$24V_AH,24.5,1.416
$10V_AH,10.3,0.968
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.800,36.450,121.925,249.425,0.000,25.079,32.075,216.981,1.000,0.000,13.824,0.000,857.882,439.856,1254.535,343.231,33.301,877.715,0.000,1077.022,0.000,10.153,0.000
$DEVICE_MAMPS,325.975,67.496,658.853,554.541,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.482,892.455,814.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,34977,512
$CAP_FILE_SIZE,55473,0
$CFSIZE,260165632,255635456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,053807,4805.705,-12221.485,33,1.5,33,18.3